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Chapter 4 - Commissioning the System

90 AdeptModules Instruction Handbook, Volume 1: Adept MV Controller Interface, Rev. A

The part number of a particular module can be found on the label afﬁxed to the module.

The JOINT-INDEPENDENT and JOINT ﬁles are on the Adept Utility Disk in the

sub-directory SPEC DATA. See the Bringing Up AdeptModules System section below for

step-by-step instructions.

CAUTION: If any AdeptModule is replaced with a different

AdeptModule (i.e., different part number) in a conﬁgured system, the

JOINT ﬁle for the new AdeptModule must be loaded.

Overview of System Bring-Up

This section outlines the steps in conﬁguring a new system. Follow the recommended

procedures in the order described in this section. After the hardware is installed:

1. Load the proper device module(s) to the working copy of the system disk using

the CONFIG_C utility.

2. Use the SPEC utility’s AdeptModules Quick Setup to conﬁgure the system.

3. Save the SPEC parameters to the system ﬁle.

4. Finally, make a backup copy of the conﬁgured V

system (using the DISKCOPY

utility).

Bringing Up an AdeptModules System

AdeptModules, in conjunction with V

, provide the ﬂexibility to control a single robot or

multiple-robot system from one controller. A maximum of four AdeptModules can be

controlled from one motion board (EJI). Four AdeptModules can be conﬁgured as one

robot or two 2-axis robots or any other combination. Refer to Appendix B for a multiple

robot conﬁguration.

Single Robot With One Motion Board (EJI)

This section describes conﬁguring a single robot with one motion board.

1. Load the appropriate device module ﬁle using CONFIG_C program (refer to

Appendix A for details on CONFIG_C). There are two device-module ﬁles that

can be used with AdeptModules:

LMMV X/Y/Z/Theta (LM)

Enhanced LMMV X/Y/Z/Theta (ELM)

LMMV X/Y/Z/Theta is included with the system. Use of the enhanced LMMV

X/Y/Z/Theta module requires an additional kinematics license. Contact Adept

for further information.

2. Reboot the controller after installing the device module ﬁles. Initialization errors

will occur during reboot. Ignore the errors for now.

3. Load and execute the SPEC program from the Adept Utility Disk or from the hard

disk. Adept installs the utility programs in the directory C:\UTIL:

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